Robotics Research for Construction in Spaceby Irving J. Oppenheim, Carnegie-Mellon Univ, United States,
Abstract: Research in construction robotics, terrestrial or otherwise, has focused on issues which are broadly pertinent to space applications. Construction robotics, as addressed by this writer, is distinguished by a demand for cognitive capabilities because of the unstructured domain and the additional necessity to generate task plans on the basis of information from the force domain and the spatial domain. Substantial progress has been made on six separate research programs, all conducted in the contexts of civil engineering, architecture, or construction: inertia effects in manipulation, control of flexible manipulators, force cognitive manipulation, domain modelling, spatial reasoning, and domain specific task planning. For each program the challenge is described, the results summarized, and the pertinence to space applications stated.
Subject Headings: Robotics | Architectural engineering | Space construction | Construction management | Information management | Spatial data
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